CN114012775A - High-performance mobile robot joint module - Google Patents
High-performance mobile robot joint module Download PDFInfo
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- CN114012775A CN114012775A CN202111483837.2A CN202111483837A CN114012775A CN 114012775 A CN114012775 A CN 114012775A CN 202111483837 A CN202111483837 A CN 202111483837A CN 114012775 A CN114012775 A CN 114012775A
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- 230000009467 reduction Effects 0.000 claims abstract description 69
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000003014 reinforcing effect Effects 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 10
- 230000006872 improvement Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The invention provides a high-performance mobile robot joint module which comprises a joint shell, a motor, an output flange plate, a gear shaft arranged at the output end of the motor, a speed reducing mechanism and primary overload protection, wherein the motor comprises a rotor and a stator, the speed reducing mechanism is connected with the gear shaft and the output flange plate, and the speed reducing mechanism comprises a primary speed reducing gear and a secondary speed reducing gear; the primary overload protection comprises an annular wave groove and a limiting piece; one end of the limiting piece limits the annular wave groove, and the other end of the limiting piece is elastically connected with the first-stage reduction gear; when the limiting piece is not jacked up by the annular wave groove, the secondary reduction gear and the primary reduction gear rotate synchronously; when the limiting piece is jacked up by the annular wave groove, the first-stage reduction gear and the second-stage reduction gear rotate relatively; after the mechanical arm of the robot is clamped, the mechanical arm is forcibly started, so that the transmission structure in the speed reducing mechanism is prevented from being damaged; the robot is convenient to clamp the arms of the robot, the robot is controlled to finely adjust the posture of the robot, and the difficulty removal is realized.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a high-performance mobile robot joint module.
Background
The cooperative robot becomes a mainstream robot for future development and is required to meet the main customers, namely small and medium-sized enterprises, in the emerging market of the robot at present. In small robotic arms, frameless direct drive motors are often required to reduce the size of the robot joints, reduce the weight of the robot, and improve the efficiency of their motions. The use of a direct drive motor also brings a new problem, namely higher technical implementation difficulty and application integration cost;
on the one hand, the frameless motor is a complicated operation and use process, and on the other hand, in the process of designing and manufacturing the robot, a plurality of scattered operation and control transmission assemblies such as a torque motor, encoder feedback, a brake band-type brake, a harmonic speed reducer and the like need to be integrated into a narrow space with extremely limited size of a robot joint, and meanwhile, the quick, flexible and reliable motion performance of the mechanical arm must be ensured. The ultra-long development period and the high manufacturing cost caused by the method hinder the wide application and popularization of the small-sized joint robot to a certain extent;
the existing robot joint module, in some special operations, for example, the work of searching and rescuing is broken open, mechanical arm at the robot needs to detect the gap that the module inserted the wall at the search and rescue in-process, lead to mechanical arm to be blocked by the gap very easily, when making the joint module inherent drive mechanical arm rotate the regulation, because the arm blocks and can not rotate, under the condition that does not have overload protection, the gear in the shutdown module is because the moment of torsion is too big, lead to the gear train in the whole reduction gears in the joint module to wear seriously, lead to whole joint module to damage, and then influence the progress of whole search and rescue work.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a high-performance mobile robot joint module.
The invention solves the technical problems through the following technical means:
a high-performance mobile robot joint module comprises a joint shell, a motor, an output flange plate, a gear shaft arranged at the output end of the motor, a speed reducing mechanism and a primary overload protection, wherein the motor comprises a rotor and a stator, the speed reducing mechanism is connected with the gear shaft and the output flange plate, the speed reducing mechanism comprises a primary speed reducing gear and a secondary speed reducing gear, and one side of the primary speed reducing gear, which is close to the secondary speed reducing gear, is tightly attached to one side of the secondary speed reducing gear;
the primary overload protection comprises an annular wave groove and a limiting piece, and the limiting piece is arranged on one side, close to the secondary reduction gear, of the primary reduction gear; the annular wave groove is arranged on one side of the secondary reduction gear, which is close to the primary reduction gear; one end of the limiting piece limits the annular wave groove, and the other end of the limiting piece is elastically connected with the first-stage reduction gear;
when the limiting piece is not jacked up by the annular wave groove, the secondary reduction gear and the primary reduction gear rotate synchronously;
when the limiting piece is jacked up by the annular wave groove, the first-stage reduction gear and the second-stage reduction gear rotate relatively.
As an improvement of the technical scheme, the limiting part is provided with three groups, the limiting part comprises a pushing spring, a sliding cavity, a ball and a sliding sleeve, and the inner wall of one end of the sliding sleeve, which is close to the annular wave groove, is connected with the ball in a rolling manner; the sliding cavity is formed in one side, close to the secondary reduction gear, of the primary reduction gear, the sliding sleeve is connected with the sliding cavity in a sliding mode along the inner wall of the sliding cavity, and the sliding cavity is a cylindrical groove body with one open end; one end of the pushing spring is fixedly connected with the sliding sleeve, and the other end of the pushing spring is fixedly connected with the inner wall of one end of the sliding sleeve, which is far away from the secondary reduction gear; the ball clings to the concave part of the annular wave groove.
As an improvement of the above technical scheme, the reduction mechanism further comprises a toothed ring, a fixed rod and a reinforcing frame, wherein the primary reduction gear and the secondary reduction gear are sleeved on the outer wall of the fixed rod, the primary reduction gear is meshed with the gear shaft, and the secondary reduction gear is meshed with the inner wall of the toothed ring; the dead lever is provided with three groups, the one end that the motor was kept away from to the dead lever is pegged graft on output ring flange surface, and the other end has cup jointed the strengthening frame.
As an improvement of the technical scheme, a joint output mounting plate is fixedly arranged at one end of the shell, which is far away from the motor, and the inner wall of one side of the joint output mounting plate, which is close to the motor, is fixedly connected with the toothed ring; and an output flange plate is connected to the inner wall bearing of the joint output mounting plate.
As an improvement of the above technical scheme, the gear shaft comprises a connecting section, a gear section and a positioning section, the connecting section is inserted into the rotor, a fracture section is arranged between the connecting section and the gear section, a splicing unit is arranged at the inner section of the fracture section, the fracture section is fractured, the splicing unit is popped up, and the connecting section and the gear section are connected; the positioning section is connected with the output flange plate bearing.
As an improvement of the above technical scheme, the splicing unit comprises a connecting button, a three-jaw fixing head, a three-jaw ejecting head and an ejecting spring, wherein the connecting section and the gear section are both provided with square grooves, the three-jaw fixing head is inserted in the square groove of the connecting section, and the three-jaw ejecting head is slidably connected in the square groove of the gear section; the connecting button is rotationally connected with the three-jaw fixing head; a communicating groove is formed in the positioning section and communicated with the square groove, and the ejection spring is arranged in the communicating groove; the ejection spring pushes the three-jaw ejection head and the three-jaw fixing head to be inserted.
As an improvement of the technical scheme, the middle end of the outer wall of the fracture section is provided with an annular groove.
As an improvement of the technical scheme, a protecting sleeve is fixedly arranged on one side, close to the motor, of the output flange plate, a limiting ring is arranged at one end, far away from the output flange plate, of the protecting sleeve, and a reinforcing frame is rotatably connected to the inner wall of the limiting ring.
The invention has the beneficial effects that:
1. after a mechanical arm of the robot starts the joint module in an abnormal state, after the torque between the first-stage reduction gear and the second-stage reduction gear exceeds a bearing limit, the component force of the acting force exerted by the concave surface of the annular wave groove on the limiting part in the vertical direction is larger than the thrust force exerted on the limiting part, so that the limiting part moves along the concave-convex surface of the annular wave groove, the first-stage reduction gear and the second-stage reduction gear rotate relatively, and the reduction mechanism does not drive the output flange plate to rotate any more; after the mechanical arm of the robot is clamped, the mechanical arm is forcibly started, so that the transmission structure in the speed reducing mechanism is prevented from being damaged; the arm of the robot can be conveniently clamped, the robot is controlled to finely adjust the posture of the robot, and the difficulty removal is realized;
2. through one-level overload protection for one-level reduction gear and second grade reduction gear must laminate each other, make the axial dimensions of whole joint module reduce, reduce the volume of whole joint module greatly, make the joint module small and exquisite light more.
Drawings
Fig. 1 is a schematic structural diagram of a high performance mobile robot joint module according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a high performance mobile robot joint module according to an embodiment of the present invention;
FIG. 3 is a connection diagram of a deceleration mechanism of a high performance mobile robot joint module according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a high performance mobile robot joint module gear shaft according to an embodiment of the present invention;
FIG. 5 is a cross-sectional view of a high performance mobile robot joint module with primary overload protection according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a two-stage reduction gear of a high-performance mobile robot joint module according to an embodiment of the invention;
in the figure: 1. a housing; 2. a motor; 21. a rotor; 22. a stator; 3. an output flange plate; 4. a gear shaft; 41. a connecting section; 42. a gear segment; 43. a positioning section; 44. a fracture section; 45. a splicing unit; 451. a connecting button; 452. a three-jaw fixed head; 453. a three-jaw ejection head; 454. ejecting a spring; 5. a speed reduction mechanism; 51. a primary reduction gear; 52. a secondary reduction gear; 53. a toothed ring; 54. fixing the rod; 55. a reinforcing frame; 6. primary overload protection; 61. an annular wave groove; 62. a push spring; 63. a sliding cavity; 64. a ball bearing; 65. a sliding sleeve; 7. an output mounting plate; 8. a protective sleeve.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Examples
As shown in fig. 1, fig. 2, fig. 3, fig. 5, and fig. 6, the high performance mobile robot joint module of the present embodiment includes a joint housing 1, a motor 2, an output flange 3, a gear shaft 4 disposed at an output end of the motor 2, a speed reducing mechanism 5, and a primary overload protection 6, wherein the motor 2 includes a rotor 21 and a stator 22, the speed reducing mechanism 5 connects the gear shaft 4 and the output flange 3, the speed reducing mechanism 5 includes a primary speed reducing gear 51 and a secondary speed reducing gear 52, and a side of the primary speed reducing gear 51 adjacent to a side of the secondary speed reducing gear 52 is tightly attached to the side of the secondary speed reducing gear 52;
the primary overload protection 6 comprises an annular wave groove 61 and a limiting piece, wherein the limiting piece is arranged on one side of the primary reduction gear 51 close to the secondary reduction gear 52; the annular wave groove 61 is arranged on one side of the secondary reduction gear 52 close to the primary reduction gear 51; one end of the limiting piece limits the annular wave groove 61, and the other end of the limiting piece is elastically connected with the first-stage reduction gear 51;
when the limiting piece is not jacked up by the annular wave groove 61, the secondary reduction gear 52 and the primary reduction gear 51 synchronously rotate;
when the restricting member is pushed up by the annular wave groove 61, the primary reduction gear 51 and the secondary reduction gear 52 rotate relatively.
After the joint module is normally started, the rotor 21 drives the speed reducing mechanism 5 to move through the gear shaft 4, and after the torque between the first-stage speed reducing gear 51 and the second-stage speed reducing gear 52 does not exceed the limit, the limiting part is clamped by the concave surface of the annular wave groove 61, so that the first-stage speed reducing gear 51 drives the second-stage speed reducing gear 52 to rotate, the speed reducing mechanism 5 can conveniently drive the output flange 3 to rotate, and the output flange 3 can obtain larger torque through the speed reducing mechanism 5;
after the joint module is started when the mechanical arm of the robot is in an abnormal state, and the torque between the first-stage reduction gear 51 and the second-stage reduction gear 52 exceeds the bearing limit, the component force of the acting force exerted by the concave surface of the annular wave groove 61 on the limiting part in the vertical direction is larger than the elasticity borne by the limiting part, so that the limiting part reciprocates along the concave-convex surface of the annular wave groove 61, the first-stage reduction gear 51 does not drive the second-stage reduction gear 52 to rotate any more when rotating, and the reduction mechanism 5 does not drive the output flange 3 to rotate any more; after the mechanical arm of the robot is clamped, the mechanical arm is forcibly started, so that the transmission structure in the speed reducing mechanism 5 is prevented from being damaged; the robot is convenient to clamp the arms of the robot, the robot is controlled to finely adjust the posture of the robot, and the difficulty removal is realized.
As shown in fig. 2, 3, 5 and 6, in some embodiments, the limiting member is provided with three sets, the limiting member comprises a pushing spring 62, a sliding cavity 63, a ball 64 and a sliding sleeve 65, and the sliding sleeve 65 is connected with the ball 64 in a rolling way at one end of the inner wall of the sliding sleeve 65 close to the annular wave groove 61; the sliding cavity 63 is formed in one side, close to the secondary reduction gear 52, of the primary reduction gear 51, the sliding sleeve 65 is connected in a sliding mode along the inner wall of the sliding cavity 63, and the sliding cavity 63 is a cylindrical groove body with one end open; one end of the pushing spring 62 is fixedly connected with the sliding sleeve 65, and the other end is fixedly connected with the inner wall of one end of the sliding sleeve 65 far away from the secondary reduction gear 52; the balls 64 are tightly attached to the depressions of the annular wave grooves 61.
When the torque does not exceed the limit, the sliding sleeve 65 is conveniently pushed by the pushing spring 62, so that the ball 64 abuts against the concave surface of the annular wavy groove 61, and the primary reduction gear 51 is convenient to synchronously rotate close to the secondary reduction gear 52; after the torque exceeds the limit, the concave surface of the annular wave groove 61 applies acting force on the limiting piece, and the component force in the vertical direction pushes the pushing spring 62 to contract, so that the first-stage reduction gear 51 is convenient to approach the second-stage reduction gear 52 to rotate relatively;
the wear of the sliding sleeve 65 is reduced by the rolling of the balls 64 along the annular wavy groove 61.
As shown in fig. 3 and 5, in some embodiments, the speed reducing mechanism 5 further includes a toothed ring 53, a fixing rod 54 and a reinforcing frame 55, the first-stage speed reducing gear 51 and the second-stage speed reducing gear 52 are both sleeved on the outer wall of the fixing rod 54, the first-stage speed reducing gear 51 is engaged with the gear shaft 4, and the second-stage speed reducing gear 52 is engaged with the inner wall of the toothed ring 53; the fixing rods 54 are provided with three groups, one end of each fixing rod 54 far away from the motor 2 is inserted on the surface of the output flange 3, and the other end of each fixing rod is sleeved with a reinforcing frame 55.
The first-stage reduction gear 51 and the second-stage reduction gear 52 which are mutually attached are rotationally connected with the outer wall of the fixing rod 54, so that the axial size of the whole joint module is reduced, the volume of the whole joint module is greatly reduced, and the joint module is smaller and lighter; meanwhile, the reinforcing frame 55 is sleeved at one end of the three groups of fixing rods 54, so that the fixing rods 54 and the output flange 3 are connected more stably, and the fixing rods 54 are prevented from being inclined and deformed.
As shown in fig. 2 and fig. 3, in some embodiments, a joint output mounting plate 7 is fixedly arranged at one end of the housing 1 away from the motor 2, and an inner wall of one side of the joint output mounting plate 7 close to the motor 2 is fixedly connected with the toothed ring 53; the inner wall bearing of the joint output mounting plate 7 is connected with an output flange 3.
The position of the toothed ring 53 is conveniently limited through the joint output mounting plate 7, one end of the shell 1 close to the output flange plate 3 is conveniently sealed, and meanwhile, the whole joint module is conveniently mounted.
As shown in fig. 1 and 2, in some embodiments, the gear shaft 4 includes a connection section 41, a gear section 42 and a positioning section 43, the connection section 41 is inserted into the rotor 21, a fracture section 44 is disposed between the connection section 41 and the gear section 42, an inner section of the fracture section 44 is provided with a splicing unit 45, the fracture section 44 is fractured, and the splicing unit 45 connects the connection section 41 and the gear section 42; the positioning section 43 is in bearing connection with the output flange 3.
By arranging the fracture section 44, after the gear set in the speed reducing mechanism 5 is clamped, the fracture section 44 is automatically broken under the action of external force, and the gear section 42 and the primary speed reducing gear 51 are prevented from being damaged after the gears are clamped; meanwhile, the positioning section 43 is connected with the output flange plate 3, so that the gear shaft 4 is conveniently positioned.
As shown in fig. 2 and 4, in some embodiments, the continuous connection unit 45 includes a connection button 451, a three-jaw fixing head 452, a three-jaw ejecting head 453 and an ejecting spring 454, the connection button 451 is in threaded connection with the inner wall of the connection section 41, the connection section 41 and the gear section 42 are both provided with a square groove, the three-jaw fixing head 452 is inserted into the square groove of the connection section 41, and the three-jaw ejecting head 453 is slidably connected into the square groove of the gear section 42; the connecting button 451 is rotationally connected with the three-jaw fixing head 452; a communicating groove is formed in the positioning section 43 and is communicated with the square groove, and the ejection spring 454 is arranged in the communicating groove; the ejecting spring 454 pushes the three-jaw ejecting head 453 and the three-jaw fixing head 452 to be inserted.
After the fracture section 44 is fractured, the three-jaw ejection head 453 is pushed by the ejection spring 454, the three-jaw ejection head 453 is pushed out from the square groove, and meanwhile, the motor 2 drives the three-jaw fixing head 452 to rotate, so that the three-jaw ejection head 453 is inserted into the three-jaw fixing head 452 which rotates for a certain angle, and continuous transmission is facilitated.
As shown in fig. 3 and 4, in some embodiments, the middle end of the outer wall of the breaking section 44 is provided with an annular groove; after the gear shaft 4 is overloaded through the annular groove, the fracture section 44 is fractured from the annular groove, the fracture section 44 is prevented from being deformed when being fractured, and the influence on the ejection head 453 of the three-jaw is avoided to pop out.
As shown in fig. 2 and 3, in some embodiments, a protecting sleeve 8 is fixedly disposed on a side of the output flange 3 close to the motor 2, a limiting ring is disposed on an end of the protecting sleeve 8 far from the output flange 3, and a reinforcing frame 55 is rotatably connected to an inner wall of the limiting ring.
Carry on spacingly through lag 8 to reinforcement 55, prevent that the movement track of reinforcement 55 from taking place the skew, prevent that dead lever 54 from taking place the deformation crooked.
It is noted that, in this document, relational terms such as first and second, and the like, if any, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. The high-performance mobile robot joint module is characterized by comprising a joint shell (1), a motor (2), an output flange (3), a gear shaft (4) arranged at the output end of the motor (2), a speed reducing mechanism (5) and a primary overload protection (6), wherein the motor (2) comprises a rotor (21) and a stator (22), the speed reducing mechanism (5) is connected with the gear shaft (4) and the output flange (3), the speed reducing mechanism (5) comprises a primary speed reducing gear (51) and a secondary speed reducing gear (52), and one side of the primary speed reducing gear (51) close to one side of the secondary speed reducing gear (52) is tightly attached to the other side of the primary speed reducing gear (51) and the secondary speed reducing gear (52);
the primary overload protection (6) comprises an annular wave groove (61) and a limiting piece, and the limiting piece is arranged on one side, close to the secondary reduction gear (52), of the primary reduction gear (51); the annular wavy groove (61) is formed in one side, close to the primary reduction gear (51), of the secondary reduction gear (52); one end of the limiting piece limits the annular wave groove (61), and the other end of the limiting piece is elastically connected with the first-stage reduction gear (51);
when the limiting piece is not jacked up by the annular wave groove (61), the secondary reduction gear (52) and the primary reduction gear (51) synchronously rotate;
when the limiting piece is jacked up by the annular wave groove (61), the first-stage reduction gear (51) and the second-stage reduction gear (52) rotate relatively.
2. The high performance mobile robot joint module of claim 1, wherein: the limiting piece is provided with three groups, the limiting piece comprises a pushing spring (62), a sliding cavity (63), a ball (64) and a sliding sleeve (65), and the ball (64) is connected to the inner wall of one end, close to the annular wave groove (61), of the sliding sleeve (65) in a rolling mode; the sliding cavity (63) is formed in one side, close to the secondary reduction gear (52), of the primary reduction gear (51), the sliding sleeve (65) is connected with the sliding cavity (63) in a sliding mode along the inner wall of the sliding cavity, and the sliding cavity (63) is a cylindrical groove body with one open end; one end of the pushing spring (62) is fixedly connected with the sliding sleeve (65), and the other end of the pushing spring is fixedly connected with the inner wall of one end, far away from the secondary reduction gear (52), of the sliding sleeve (65); the ball (64) is tightly attached to the concave part of the annular wave groove (61).
3. The high performance mobile robot joint module of claim 1, wherein: the speed reducing mechanism (5) further comprises a toothed ring (53), a fixing rod (54) and a reinforcing frame (55), the primary speed reducing gear (51) and the secondary speed reducing gear (52) are sleeved on the outer wall of the fixing rod (54), the primary speed reducing gear (51) is meshed with the gear shaft (4), and the secondary speed reducing gear (52) is meshed with the inner wall of the toothed ring (53); the fixing rods (54) are provided with three groups, one end of each fixing rod (54), which is far away from the motor (2), is inserted into the surface of the output flange plate (3), and the other end of each fixing rod is sleeved with a reinforcing frame (55).
4. The high performance mobile robot joint module of claim 1, wherein: a joint output mounting plate (7) is fixedly arranged at one end, far away from the motor (2), of the shell (1), and the inner wall, close to the motor (2), of one side of the joint output mounting plate (7) is fixedly connected with the toothed ring (53); and an output flange plate (3) is connected to the inner wall bearing of the joint output mounting plate (7).
5. The high performance mobile robot joint module of claim 1, wherein: the gear shaft (4) comprises a connecting section (41), a gear section (42) and a positioning section (43), the connecting section (41) is connected with the rotor (21) in an inserting mode, a breaking section (44) is arranged between the connecting section (41) and the gear section (42), a splicing unit (45) is arranged on the inner section of the breaking section (44), the breaking section (44) breaks, the splicing unit (45) pops up, and the connecting section (41) is connected with the gear section (42); the positioning section (43) is connected with the output flange plate (3) through a bearing.
6. The high performance mobile robot joint module of claim 5, wherein: the continuous connection unit (45) comprises a connection button (451), a three-jaw fixing head (452), a three-jaw ejection head (453) and an ejection spring (454), the connection section (41) and the gear section (42) are both provided with square grooves, the three-jaw fixing head (452) is inserted into the square groove of the connection section (41), and the three-jaw ejection head (453) is connected in the square groove of the gear section (42) in a sliding manner; the connecting button (451) is rotationally connected with the three-jaw fixing head (452); a communicating groove is formed in the positioning section (43), the communicating groove is communicated with the square groove, and the ejection spring (454) is arranged in the communicating groove; the ejection spring (454) pushes the three-jaw ejection head (453) to be inserted into the three-jaw fixing head (452).
7. The high performance mobile robot joint module of claim 5, wherein: the middle end of the outer wall of the fracture section (44) is provided with an annular groove.
8. The high performance mobile robot joint module of claim 1, wherein: one side of the output flange (3) close to the motor (2) is fixedly provided with a protective sleeve (8), one end of the protective sleeve (8) far away from the output flange (3) is provided with a limiting ring, and the inner wall of the limiting ring is rotatably connected with a reinforcing frame (55).
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| CN202111483837.2A CN114012775A (en) | 2021-12-07 | 2021-12-07 | High-performance mobile robot joint module |
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